#ifndef MAPPOINT_H
#define MAPPOINT_H

#include "myslam/common_include.h"

namespace myslam
{

   class Frame;
   class MapPoint{

   public:
       typedef shared_ptr<MapPoint>Ptr;
       unsigned long id_;
       Vector3d pos_;
       Vector3d norm_;
       Mat descriptor_;
       int observed_times_;
       int mathced_times_;

       MapPoint();
       MapPoint(long id,Vector3d position,Vector3d norm);
       static MapPoint::Ptr createMapPoint();

   };




}




#endif
